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AP_GyroFFT: allow for 2 FFT based notches

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This commit is contained in:
Andrew Tridgell 2022-04-15 18:56:15 +10:00
parent 301c56d30a
commit 492e203fd2
1 changed files with 2 additions and 3 deletions
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libraries/AP_GyroFFT/AP_GyroFFT.cpp
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@ -254,9 +254,8 @@ void AP_GyroFFT::init(uint16_t loop_rate_hz)
uint8_t num_notches = 0; uint8_t num_notches = 0;
for (auto &notch : _ins->harmonic_notches) { for (auto &notch : _ins->harmonic_notches) {
if (notch.params.tracking_mode() == HarmonicNotchDynamicMode::UpdateGyroFFT) { if (notch.params.tracking_mode() == HarmonicNotchDynamicMode::UpdateGyroFFT) {
harmonics = notch.params.harmonics(); harmonics |= notch.params.harmonics();
num_notches = notch.num_dynamic_notches; num_notches = MAX(num_notches, notch.num_dynamic_notches);
break;
} }
} }
// count the number of active harmonics or dynamic notchs // count the number of active harmonics or dynamic notchs